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   <div id="projectname">Firmata firmware for Arduino
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   <div id="projectbrief">Firmata is a protocol for communicating with microcontrollers from software on a host computer</div>
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<div class="title">Firmata.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">  Firmata.h - Firmata library v2.5.8 - 2018-04-15</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">  Copyright (c) 2006-2008 Hans-Christoph Steiner.  All rights reserved.</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">  Copyright (C) 2009-2017 Jeff Hoefs.  All rights reserved.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">  This library is free software; you can redistribute it and/or</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">  modify it under the terms of the GNU Lesser General Public</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">  License as published by the Free Software Foundation; either</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">  version 2.1 of the License, or (at your option) any later version.</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">  See file LICENSE.txt for further informations on licensing terms.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">*/</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160; </div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="preprocessor">#ifndef Firmata_h</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#define Firmata_h</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160; </div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#include &quot;Boards.h&quot;</span>  <span class="comment">/* Hardware Abstraction Layer + Wiring/Arduino */</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor">#include &quot;FirmataDefines.h&quot;</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;FirmataMarshaller.h&quot;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;FirmataParser.h&quot;</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160; </div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">/* DEPRECATED as of Firmata v2.5.1. As of 2.5.1 there are separate version numbers for</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> * the protocol version and the firmware version.</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="preprocessor">#define FIRMATA_MAJOR_VERSION           2 // same as FIRMATA_PROTOCOL_MAJOR_VERSION</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="preprocessor">#define FIRMATA_MINOR_VERSION           5 // same as FIRMATA_PROTOCOL_MINOR_VERSION</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#define FIRMATA_BUGFIX_VERSION          1 // same as FIRMATA_PROTOCOL_BUGFIX_VERSION</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160; </div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">// extended command set using sysex (0-127/0x00-0x7F)</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">/* 0x00-0x0F reserved for user-defined commands */</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">// these are DEPRECATED to make the naming more consistent</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#define FIRMATA_STRING          0x71 // same as STRING_DATA</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#define SYSEX_I2C_REQUEST       0x76 // same as I2C_REQUEST</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#define SYSEX_I2C_REPLY         0x77 // same as I2C_REPLY</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#define SYSEX_SAMPLING_INTERVAL 0x7A // same as SAMPLING_INTERVAL</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment">// pin modes</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment">//#define INPUT                 0x00 // defined in Arduino.h</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment">//#define OUTPUT                0x01 // defined in Arduino.h</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment">// DEPRECATED as of Firmata v2.5</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define ANALOG                  0x02 // same as PIN_MODE_ANALOG</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PWM                     0x03 // same as PIN_MODE_PWM</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#define SERVO                   0x04 // same as PIN_MODE_SERVO</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#define SHIFT                   0x05 // same as PIN_MODE_SHIFT</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#define I2C                     0x06 // same as PIN_MODE_I2C</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#define ONEWIRE                 0x07 // same as PIN_MODE_ONEWIRE</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#define STEPPER                 0x08 // same as PIN_MODE_STEPPER</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#define ENCODER                 0x09 // same as PIN_MODE_ENCODER</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#define IGNORE                  0x7F // same as PIN_MODE_IGNORE</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="keyword">namespace </span>firmata {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="comment">// TODO make it a subclass of a generic Serial/Stream base class</span></div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classfirmata_1_1_firmata_class.html">   54</a></span>&#160;<span class="keyword">class </span><a class="code" href="classfirmata_1_1_firmata_class.html">FirmataClass</a></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">typedef</span> void (*callbackFunction)(uint8_t, int);</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">typedef</span> void (*systemCallbackFunction)(void);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">typedef</span> void (*stringCallbackFunction)(<span class="keywordtype">char</span> *);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">typedef</span> void (*sysexCallbackFunction)(uint8_t command, uint8_t argc, uint8_t *argv);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <a class="code" href="classfirmata_1_1_firmata_class.html#a75b035ab8d96d87d28deeb87badfe11a">FirmataClass</a>();</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">/* Arduino constructors */</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a2fddcc643892bec2f4aa7aef6dba70eb">begin</a>();</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a2fddcc643892bec2f4aa7aef6dba70eb">begin</a>(<span class="keywordtype">long</span>);</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a2fddcc643892bec2f4aa7aef6dba70eb">begin</a>(Stream &amp;s);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="comment">/* querying functions */</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#abd8a0370db6d9e923e7e3d5836e78d7a">printVersion</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a9421550f2501fc1df60fd174b154e606">blinkVersion</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#abe49261eab0bd4892a09fa8b8980b11a">printFirmwareVersion</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">//void setFirmwareVersion(byte major, byte minor);  // see macro below</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#ab7aa66b528027566c15b7d64c8cd0f89">setFirmwareNameAndVersion</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *name, <span class="keywordtype">byte</span> major, <span class="keywordtype">byte</span> minor);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a5ddba465c3772f841828ef82c79d4307">disableBlinkVersion</a>();</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="comment">/* serial receive handling */</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a119734b867186567c1cd011e52e59d2d">available</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#aa698f5f5a234173d5eebb54831350676">processInput</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#aaeaac8b1f8facf070615b0035120c432">parse</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> value);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordtype">boolean</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a58e9d787957c3085f22d33b59b1f6ea6">isParsingMessage</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="comment">/* serial send handling */</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#ae14e1d8d9bd72068f6e8ca07721e8dda">sendAnalog</a>(<span class="keywordtype">byte</span> pin, <span class="keywordtype">int</span> value);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="keywordtype">void</span> sendDigital(<span class="keywordtype">byte</span> pin, <span class="keywordtype">int</span> value); <span class="comment">// TODO implement this</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a799b91e5a888dd21b066a2020d8e2b68">sendDigitalPort</a>(<span class="keywordtype">byte</span> portNumber, <span class="keywordtype">int</span> portData);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#abe11f621154afd308926129de349fc6e">sendString</a>(<span class="keyword">const</span> <span class="keywordtype">char</span> *<span class="keywordtype">string</span>);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#abe11f621154afd308926129de349fc6e">sendString</a>(<span class="keywordtype">byte</span> command, <span class="keyword">const</span> <span class="keywordtype">char</span> *<span class="keywordtype">string</span>);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a81e2de5b37eb2372c8a3d9a43d5eb0cc">sendSysex</a>(<span class="keywordtype">byte</span> command, <span class="keywordtype">byte</span> bytec, <span class="keywordtype">byte</span> *bytev);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#ae8f29a829e17379602fcb9fd6a497807">write</a>(<span class="keywordtype">byte</span> c);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="comment">/* attach &amp; detach callback functions to messages */</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordtype">void</span> attach(uint8_t command, callbackFunction newFunction);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <span class="keywordtype">void</span> attach(uint8_t command, systemCallbackFunction newFunction);</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordtype">void</span> attach(uint8_t command, stringCallbackFunction newFunction);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordtype">void</span> attach(uint8_t command, sysexCallbackFunction newFunction);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a5db0faee74b9291d1b783d2dde0929d1">detach</a>(uint8_t command);</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="comment">/* access pin state and config */</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordtype">byte</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a0c434227456ce2ba97b3b1142c329f96">getPinMode</a>(<span class="keywordtype">byte</span> pin);</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a32c41dd94c1d23aa0e6d3d1dbe5c0c04">setPinMode</a>(<span class="keywordtype">byte</span> pin, <span class="keywordtype">byte</span> config);</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    <span class="comment">/* access pin state */</span></div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordtype">int</span> <a class="code" href="classfirmata_1_1_firmata_class.html#acf5d4f460b9a2298653d4a71de918dfe">getPinState</a>(<span class="keywordtype">byte</span> pin);</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#aa9f98ba5069823b4c1d08db9f8999ba8">setPinState</a>(<span class="keywordtype">byte</span> pin, <span class="keywordtype">int</span> state);</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;    <span class="comment">/* utility methods */</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a770e43f26f18204e43acebf9202a6d39">sendValueAsTwo7bitBytes</a>(<span class="keywordtype">int</span> value);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a3cc7ea1af348bca3ea0bd570314cada3">startSysex</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    <span class="keywordtype">void</span> <a class="code" href="classfirmata_1_1_firmata_class.html#a9bb68afbb1d37a7990f59a1d419e64c9">endSysex</a>(<span class="keywordtype">void</span>);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    uint8_t parserBuffer[MAX_DATA_BYTES];</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    <a class="code" href="classfirmata_1_1_firmata_marshaller.html">FirmataMarshaller</a> marshaller;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    <a class="code" href="classfirmata_1_1_firmata_parser.html">FirmataParser</a> parser;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    Stream *FirmataStream;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="comment">/* firmware name and version */</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordtype">byte</span> firmwareVersionCount;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;    <span class="keywordtype">byte</span> *firmwareVersionVector;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    <span class="comment">/* pin configuration */</span></div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;    <span class="keywordtype">byte</span> pinConfig[TOTAL_PINS];</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;    <span class="keywordtype">int</span> pinState[TOTAL_PINS];</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="keywordtype">boolean</span> blinkVersionDisabled;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="comment">/* private methods ------------------------------ */</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordtype">void</span> strobeBlinkPin(<span class="keywordtype">byte</span> pin, <span class="keywordtype">int</span> count, <span class="keywordtype">int</span> onInterval, <span class="keywordtype">int</span> offInterval);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keyword">friend</span> <span class="keywordtype">void</span> FirmataMarshaller::encodeByteStream (<span class="keywordtype">size_t</span> bytec, uint8_t * bytev, <span class="keywordtype">size_t</span> max_bytes = 0) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    <span class="comment">/* callback functions */</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    <span class="keyword">static</span> callbackFunction currentAnalogCallback;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;    <span class="keyword">static</span> callbackFunction currentDigitalCallback;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;    <span class="keyword">static</span> callbackFunction currentPinModeCallback;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;    <span class="keyword">static</span> callbackFunction currentPinValueCallback;</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keyword">static</span> callbackFunction currentReportAnalogCallback;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    <span class="keyword">static</span> callbackFunction currentReportDigitalCallback;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;    <span class="keyword">static</span> stringCallbackFunction currentStringCallback;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    <span class="keyword">static</span> sysexCallbackFunction currentSysexCallback;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="keyword">static</span> systemCallbackFunction currentSystemResetCallback;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="comment">/* static callbacks */</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticAnalogCallback (<span class="keywordtype">void</span> *, uint8_t command, uint16_t value) { <span class="keywordflow">if</span> ( currentAnalogCallback ) { currentAnalogCallback(command,(<span class="keywordtype">int</span>)value); } }</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticDigitalCallback (<span class="keywordtype">void</span> *, uint8_t command, uint16_t value) { <span class="keywordflow">if</span> ( currentDigitalCallback ) { currentDigitalCallback(command, (<span class="keywordtype">int</span>)value); } }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticPinModeCallback (<span class="keywordtype">void</span> *, uint8_t command, uint16_t value) { <span class="keywordflow">if</span> ( currentPinModeCallback ) { currentPinModeCallback(command, (<span class="keywordtype">int</span>)value); } }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticPinValueCallback (<span class="keywordtype">void</span> *, uint8_t command, uint16_t value) { <span class="keywordflow">if</span> ( currentPinValueCallback ) { currentPinValueCallback(command, (<span class="keywordtype">int</span>)value); } }</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticReportAnalogCallback (<span class="keywordtype">void</span> *, uint8_t command, uint16_t value) { <span class="keywordflow">if</span> ( currentReportAnalogCallback ) { currentReportAnalogCallback(command, (<span class="keywordtype">int</span>)value); } }</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticReportDigitalCallback (<span class="keywordtype">void</span> *, uint8_t command, uint16_t value) { <span class="keywordflow">if</span> ( currentReportDigitalCallback ) { currentReportDigitalCallback(command, (<span class="keywordtype">int</span>)value); } }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticStringCallback (<span class="keywordtype">void</span> *, <span class="keyword">const</span> <span class="keywordtype">char</span> * c_str) { <span class="keywordflow">if</span> ( currentStringCallback ) { currentStringCallback((<span class="keywordtype">char</span> *)c_str); } }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticSysexCallback (<span class="keywordtype">void</span> *, uint8_t command, <span class="keywordtype">size_t</span> argc, uint8_t *argv) { <span class="keywordflow">if</span> ( currentSysexCallback ) { currentSysexCallback(command, (uint8_t)argc, argv); } }</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticReportFirmwareCallback (<span class="keywordtype">void</span> * context, <span class="keywordtype">size_t</span>, <span class="keywordtype">size_t</span>, <span class="keyword">const</span> <span class="keywordtype">char</span> *) { <span class="keywordflow">if</span> ( context ) { ((<a class="code" href="classfirmata_1_1_firmata_class.html">FirmataClass</a> *)context)-&gt;printFirmwareVersion(); } }</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticReportVersionCallback (<span class="keywordtype">void</span> * context) { <span class="keywordflow">if</span> ( context ) { ((<a class="code" href="classfirmata_1_1_firmata_class.html">FirmataClass</a> *)context)-&gt;printVersion(); } }</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    <span class="keyword">inline</span> <span class="keyword">static</span> <span class="keywordtype">void</span> staticSystemResetCallback (<span class="keywordtype">void</span> *) { <span class="keywordflow">if</span> ( currentSystemResetCallback ) { currentSystemResetCallback(); } }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;};</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;} <span class="comment">// namespace firmata</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;<span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span> {</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;  <span class="comment">// callback function types</span></div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keyword">typedef</span> firmata::FirmataClass::callbackFunction callbackFunction;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <span class="keyword">typedef</span> firmata::FirmataClass::systemCallbackFunction systemCallbackFunction;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <span class="keyword">typedef</span> firmata::FirmataClass::stringCallbackFunction stringCallbackFunction;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <span class="keyword">typedef</span> firmata::FirmataClass::sysexCallbackFunction sysexCallbackFunction;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;}</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="keyword">extern</span> <a class="code" href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a> Firmata;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="comment">/*==============================================================================</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;<span class="comment"> * MACROS</span></div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;<span class="comment"> *============================================================================*/</span></div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment">/* shortcut for setFirmwareNameAndVersion() that uses __FILE__ to set the</span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment"> * firmware name.  It needs to be a macro so that __FILE__ is included in the</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="comment"> * firmware source file rather than the library source file.</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;<span class="preprocessor">#define setFirmwareVersion(x, y)   setFirmwareNameAndVersion(__FILE__, x, y)</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* Firmata_h */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_aa698f5f5a234173d5eebb54831350676"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#aa698f5f5a234173d5eebb54831350676">firmata::FirmataClass::processInput</a></div><div class="ttdeci">void processInput(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:252</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a32c41dd94c1d23aa0e6d3d1dbe5c0c04"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a32c41dd94c1d23aa0e6d3d1dbe5c0c04">firmata::FirmataClass::setPinMode</a></div><div class="ttdeci">void setPinMode(byte pin, byte config)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:486</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a58e9d787957c3085f22d33b59b1f6ea6"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a58e9d787957c3085f22d33b59b1f6ea6">firmata::FirmataClass::isParsingMessage</a></div><div class="ttdeci">boolean isParsingMessage(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:272</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_abe11f621154afd308926129de349fc6e"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#abe11f621154afd308926129de349fc6e">firmata::FirmataClass::sendString</a></div><div class="ttdeci">void sendString(const char *string)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:363</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_ae8f29a829e17379602fcb9fd6a497807"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#ae8f29a829e17379602fcb9fd6a497807">firmata::FirmataClass::write</a></div><div class="ttdeci">void write(byte c)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:373</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_abe49261eab0bd4892a09fa8b8980b11a"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#abe49261eab0bd4892a09fa8b8980b11a">firmata::FirmataClass::printFirmwareVersion</a></div><div class="ttdeci">void printFirmwareVersion(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:187</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_aa9f98ba5069823b4c1d08db9f8999ba8"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#aa9f98ba5069823b4c1d08db9f8999ba8">firmata::FirmataClass::setPinState</a></div><div class="ttdeci">void setPinState(byte pin, int state)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:509</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_acf5d4f460b9a2298653d4a71de918dfe"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#acf5d4f460b9a2298653d4a71de918dfe">firmata::FirmataClass::getPinState</a></div><div class="ttdeci">int getPinState(byte pin)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:498</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a119734b867186567c1cd011e52e59d2d"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a119734b867186567c1cd011e52e59d2d">firmata::FirmataClass::available</a></div><div class="ttdeci">int available(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:244</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a0c434227456ce2ba97b3b1142c329f96"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a0c434227456ce2ba97b3b1142c329f96">firmata::FirmataClass::getPinMode</a></div><div class="ttdeci">byte getPinMode(byte pin)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:474</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_abd8a0370db6d9e923e7e3d5836e78d7a"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#abd8a0370db6d9e923e7e3d5836e78d7a">firmata::FirmataClass::printVersion</a></div><div class="ttdeci">void printVersion(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:147</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_ab7aa66b528027566c15b7d64c8cd0f89"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#ab7aa66b528027566c15b7d64c8cd0f89">firmata::FirmataClass::setFirmwareNameAndVersion</a></div><div class="ttdeci">void setFirmwareNameAndVersion(const char *name, byte major, byte minor)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:201</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_ae14e1d8d9bd72068f6e8ca07721e8dda"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#ae14e1d8d9bd72068f6e8ca07721e8dda">firmata::FirmataClass::sendAnalog</a></div><div class="ttdeci">void sendAnalog(byte pin, int value)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:289</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_parser_html"><div class="ttname"><a href="classfirmata_1_1_firmata_parser.html">firmata::FirmataParser</a></div><div class="ttdef"><b>Definition:</b> FirmataParser.h:27</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a9bb68afbb1d37a7990f59a1d419e64c9"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a9bb68afbb1d37a7990f59a1d419e64c9">firmata::FirmataClass::endSysex</a></div><div class="ttdeci">void endSysex(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:67</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a9421550f2501fc1df60fd174b154e606"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a9421550f2501fc1df60fd174b154e606">firmata::FirmataClass::blinkVersion</a></div><div class="ttdeci">void blinkVersion(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:159</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a81e2de5b37eb2372c8a3d9a43d5eb0cc"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a81e2de5b37eb2372c8a3d9a43d5eb0cc">firmata::FirmataClass::sendSysex</a></div><div class="ttdeci">void sendSysex(byte command, byte bytec, byte *bytev)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:342</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a5db0faee74b9291d1b783d2dde0929d1"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a5db0faee74b9291d1b783d2dde0929d1">firmata::FirmataClass::detach</a></div><div class="ttdeci">void detach(uint8_t command)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:452</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a75b035ab8d96d87d28deeb87badfe11a"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a75b035ab8d96d87d28deeb87badfe11a">firmata::FirmataClass::FirmataClass</a></div><div class="ttdeci">FirmataClass()</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:80</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a5ddba465c3772f841828ef82c79d4307"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a5ddba465c3772f841828ef82c79d4307">firmata::FirmataClass::disableBlinkVersion</a></div><div class="ttdeci">void disableBlinkVersion()</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:177</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_aaeaac8b1f8facf070615b0035120c432"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#aaeaac8b1f8facf070615b0035120c432">firmata::FirmataClass::parse</a></div><div class="ttdeci">void parse(unsigned char value)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:264</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html">firmata::FirmataClass</a></div><div class="ttdef"><b>Definition:</b> Firmata.h:54</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a799b91e5a888dd21b066a2020d8e2b68"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a799b91e5a888dd21b066a2020d8e2b68">firmata::FirmataClass::sendDigitalPort</a></div><div class="ttdeci">void sendDigitalPort(byte portNumber, int portData)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:330</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a3cc7ea1af348bca3ea0bd570314cada3"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a3cc7ea1af348bca3ea0bd570314cada3">firmata::FirmataClass::startSysex</a></div><div class="ttdeci">void startSysex(void)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:59</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_marshaller_html"><div class="ttname"><a href="classfirmata_1_1_firmata_marshaller.html">firmata::FirmataMarshaller</a></div><div class="ttdef"><b>Definition:</b> FirmataMarshaller.h:29</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a770e43f26f18204e43acebf9202a6d39"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a770e43f26f18204e43acebf9202a6d39">firmata::FirmataClass::sendValueAsTwo7bitBytes</a></div><div class="ttdeci">void sendValueAsTwo7bitBytes(int value)</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:51</div></div>
<div class="ttc" id="aclassfirmata_1_1_firmata_class_html_a2fddcc643892bec2f4aa7aef6dba70eb"><div class="ttname"><a href="classfirmata_1_1_firmata_class.html#a2fddcc643892bec2f4aa7aef6dba70eb">firmata::FirmataClass::begin</a></div><div class="ttdeci">void begin()</div><div class="ttdef"><b>Definition:</b> Firmata.cpp:109</div></div>
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